The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators

作者：Daniel E. Whitney · 发表于：Journal of Dynamic Systems Measurement and Control · 年份：1972 · DOI：10.1115/1.3426611 · 被引用次数：551 · 研究领域：Teleoperation and Haptic Systems、Iterative Learning Control Systems、Robot Manipulation and Learning

The problems of coordinated rate control and position control of multidegree-of-freedom arms are treated together in this paper. A mathematical formulation is presented which allows real time computer-assisted rate control under a variety of external coordinate systems. A new solution to the endpoint position control problem is given, allowing the arm to be driven to a final position specified in meaningful external coordinates without the corresponding final joint angles being known. Attention is given to redundant arms, to the possibility of singularities, and to the relation between this work and dynamic control of arms.